FCU: Vision Failure for VIO
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I am using the VIO on a Sentinel, and I've configured it to use the Front Stereo Left camera.
However, I get the following error after a while when I start moving the drone.
FCU: Vision FailurePlease help.
Important configurations:
voxl-qvio-server.conf
{ "imu_name": "imu_apps", "cam_name": "stereo_front", "lens_cal_path": "/data/modalai/opencv_stereo_front_intrinsics.yml", "cam_extrinsics_name": "stereo_front_l", "use_second_cam_if_stereo": true, "odr_hz": 10, "use_camera_height_bootstrap": true, "camera_height_off_ground_m": 0.085000000894069672, "enable_init_while_moving": false, "cam_imu_timeshift_s": -0.0020000000949949026, "cam_imu_timeshift_s_uncertainty": 0.0010000000474974513, "T_cam_wrt_imu_uncertainty": [0.00050000002374872565, 0.00050000002374872565, 0.00050000002374872565], "R_cam_to_imu_uncertainty": [0.00499999988824129, 0.00499999988824129, 0.00499999988824129], "accl_fsr_ms2": 156, "gyro_fsr_rad": 34, "accl_noise_std_dev": 0.31600001454353333, "gyro_noise_std_dev": 0.00999999977648258, "cam_noise_std_dev": 100, "min_std_pixel_noise": 0.5, "fail_high_pixel_noise_points": 1.6650999784469604, "limited_imu_bw_trigger": 25, "gps_imu_time_alignment_s": 0, "T_gps_wrt_imu": [0, 0, 0], "enable_mapping": true, "enable_gps_vel": false, "en_auto_reset": true, "auto_reset_max_velocity": 10, "auto_reset_max_v_cov_instant": 0.10000000149011612, "auto_reset_max_v_cov": 0.00999999977648258, "auto_reset_max_v_cov_timeout_s": 0.5, "auto_reset_min_features": 3, "auto_reset_min_feature_timeout_s": 1, "en_standby_mode": true, "standby_skip_frames": 1 }extrinsics.conf
{ "name": "Sentinel_V1", "extrinsics": [{ "parent": "imu_px4", "child": "imu_apps", "T_child_wrt_parent": [0.0256, -0.0131, 0.0], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "imu_apps", "child": "tracking", "T_child_wrt_parent": [0.0273, 0.0067, 0.0182], "RPY_parent_to_child": [0, 45, 90] }, { "parent": "imu_apps", "child": "stereo_front_l", "T_child_wrt_parent": [-0.00463019, -0.000268, -0.0008748], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "imu_px4", "child": "tracking", "T_child_wrt_parent": [0.0529, -0.0064, 0.0182], "RPY_parent_to_child": [0, 45, 90] }, { "parent": "body", "child": "imu_apps", "T_child_wrt_parent": [0.0583, -0.0067, -0.0360], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "body", "child": "imu_px4", "T_child_wrt_parent": [0.0327, 0.0084, -0.0360], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "body", "child": "stereo_front_l", "T_child_wrt_parent": [0.0793, -0.040, -0.0243], "RPY_parent_to_child": [0, 90, 90] }, { "parent": "body", "child": "stereo_rear_l", "T_child_wrt_parent": [-0.0297, 0.04, 0.0415], "RPY_parent_to_child": [0, -90, -90] }, { "parent": "body", "child": "tof", "T_child_wrt_parent": [0.078, 0, -0.025], "RPY_parent_to_child": [0, 90, 90] }, { "parent": "body", "child": "ground", "T_child_wrt_parent": [0, 0, 0.058], "RPY_parent_to_child": [0, 0, 0] }] }voxl-camera-server.conf
{ "version": 0.1, "cameras": [{ "type": "ov7251", "name": "tracking", "enabled": true, "camera_id": 2, "fps": 30, "en_preview": true, "preview_width": 640, "preview_height": 480, "pre_format": "raw8", "ae_mode": "lme_msv", "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "imx214", "name": "hires", "enabled": true, "camera_id": 3, "fps": 30, "en_preview": false, "preview_width": 640, "preview_height": 480, "pre_format": "nv21", "en_small_video": true, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": true, "large_video_width": 1024, "large_video_height": 768, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": true, "en_snapshot_width": 4160, "en_snapshot_height": 3120, "ae_mode": "isp" }, { "type": "ov7251", "name": "stereo_front", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_preview": true, "preview_width": 640, "preview_height": 480, "pre_format": "raw8", "ae_mode": "lme_msv", "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "ov7251", "name": "stereo_rear", "enabled": true, "camera_id": 5, "camera_id_second": 4, "independent_exposure": false, "fps": 30, "en_preview": true, "preview_width": 640, "preview_height": 480, "pre_format": "raw8", "ae_mode": "lme_msv", "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] } -
I am using the VIO on a Sentinel, and I've configured it to use the Front Stereo Left camera.
However, I get the following error after a while when I start moving the drone.
FCU: Vision FailurePlease help.
Important configurations:
voxl-qvio-server.conf
{ "imu_name": "imu_apps", "cam_name": "stereo_front", "lens_cal_path": "/data/modalai/opencv_stereo_front_intrinsics.yml", "cam_extrinsics_name": "stereo_front_l", "use_second_cam_if_stereo": true, "odr_hz": 10, "use_camera_height_bootstrap": true, "camera_height_off_ground_m": 0.085000000894069672, "enable_init_while_moving": false, "cam_imu_timeshift_s": -0.0020000000949949026, "cam_imu_timeshift_s_uncertainty": 0.0010000000474974513, "T_cam_wrt_imu_uncertainty": [0.00050000002374872565, 0.00050000002374872565, 0.00050000002374872565], "R_cam_to_imu_uncertainty": [0.00499999988824129, 0.00499999988824129, 0.00499999988824129], "accl_fsr_ms2": 156, "gyro_fsr_rad": 34, "accl_noise_std_dev": 0.31600001454353333, "gyro_noise_std_dev": 0.00999999977648258, "cam_noise_std_dev": 100, "min_std_pixel_noise": 0.5, "fail_high_pixel_noise_points": 1.6650999784469604, "limited_imu_bw_trigger": 25, "gps_imu_time_alignment_s": 0, "T_gps_wrt_imu": [0, 0, 0], "enable_mapping": true, "enable_gps_vel": false, "en_auto_reset": true, "auto_reset_max_velocity": 10, "auto_reset_max_v_cov_instant": 0.10000000149011612, "auto_reset_max_v_cov": 0.00999999977648258, "auto_reset_max_v_cov_timeout_s": 0.5, "auto_reset_min_features": 3, "auto_reset_min_feature_timeout_s": 1, "en_standby_mode": true, "standby_skip_frames": 1 }extrinsics.conf
{ "name": "Sentinel_V1", "extrinsics": [{ "parent": "imu_px4", "child": "imu_apps", "T_child_wrt_parent": [0.0256, -0.0131, 0.0], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "imu_apps", "child": "tracking", "T_child_wrt_parent": [0.0273, 0.0067, 0.0182], "RPY_parent_to_child": [0, 45, 90] }, { "parent": "imu_apps", "child": "stereo_front_l", "T_child_wrt_parent": [-0.00463019, -0.000268, -0.0008748], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "imu_px4", "child": "tracking", "T_child_wrt_parent": [0.0529, -0.0064, 0.0182], "RPY_parent_to_child": [0, 45, 90] }, { "parent": "body", "child": "imu_apps", "T_child_wrt_parent": [0.0583, -0.0067, -0.0360], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "body", "child": "imu_px4", "T_child_wrt_parent": [0.0327, 0.0084, -0.0360], "RPY_parent_to_child": [0, 0, 0] }, { "parent": "body", "child": "stereo_front_l", "T_child_wrt_parent": [0.0793, -0.040, -0.0243], "RPY_parent_to_child": [0, 90, 90] }, { "parent": "body", "child": "stereo_rear_l", "T_child_wrt_parent": [-0.0297, 0.04, 0.0415], "RPY_parent_to_child": [0, -90, -90] }, { "parent": "body", "child": "tof", "T_child_wrt_parent": [0.078, 0, -0.025], "RPY_parent_to_child": [0, 90, 90] }, { "parent": "body", "child": "ground", "T_child_wrt_parent": [0, 0, 0.058], "RPY_parent_to_child": [0, 0, 0] }] }voxl-camera-server.conf
{ "version": 0.1, "cameras": [{ "type": "ov7251", "name": "tracking", "enabled": true, "camera_id": 2, "fps": 30, "en_preview": true, "preview_width": 640, "preview_height": 480, "pre_format": "raw8", "ae_mode": "lme_msv", "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "imx214", "name": "hires", "enabled": true, "camera_id": 3, "fps": 30, "en_preview": false, "preview_width": 640, "preview_height": 480, "pre_format": "nv21", "en_small_video": true, "small_video_width": 1024, "small_video_height": 768, "small_venc_mode": "h265", "small_venc_br_ctrl": "cqp", "small_venc_Qfixed": 30, "small_venc_Qmin": 15, "small_venc_Qmax": 40, "small_venc_nPframes": 9, "small_venc_mbps": 2, "en_large_video": true, "large_video_width": 1024, "large_video_height": 768, "large_venc_mode": "h264", "large_venc_br_ctrl": "cqp", "large_venc_Qfixed": 38, "large_venc_Qmin": 15, "large_venc_Qmax": 50, "large_venc_nPframes": 29, "large_venc_mbps": 30, "en_snapshot": true, "en_snapshot_width": 4160, "en_snapshot_height": 3120, "ae_mode": "isp" }, { "type": "ov7251", "name": "stereo_front", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_preview": true, "preview_width": 640, "preview_height": 480, "pre_format": "raw8", "ae_mode": "lme_msv", "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }, { "type": "ov7251", "name": "stereo_rear", "enabled": true, "camera_id": 5, "camera_id_second": 4, "independent_exposure": false, "fps": 30, "en_preview": true, "preview_width": 640, "preview_height": 480, "pre_format": "raw8", "ae_mode": "lme_msv", "ae_desired_msv": 60, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }
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